Optimal trajectory control for capturing a mobile sound source

This paper suggests the study for the process of planning and capturing the optimal trajectory by the mobile robot in order to efficiently capture mobile sound sources. The sound sources are released and moved by using the mobile robot. The mobile robot is equipped with a microphone array, which makes it possible to obtain the location and direction of the mobile sound sources. For the capturing process, it is necessary to be aware of the location and direction of the mobile sound sources in advance. Therefore, the predictive algorithm can be used. For the predicting process, the Kalman filter is formed. As the mobile robot plans the optimal trajectory for the location of the predicted mobile sound sources, it is possible to capture the mobile sound sources efficiently.